frankarobotics/libfranka

C++ client library to control Franka robots in real-time

What it solves

libfranka is a C++ library designed to provide low-level, real-time control of Franka Robotics research robots. It allows researchers and developers to bypass high-level abstractions and interact directly with the robot's hardware for precise motion control.

How it works

The library acts as an interface between the user's software and the robot's Franka Control Interface (FCI). It supports real-time communication over Ethernet (1000BASE-T) and is optimized for use with a Linux kernel patched with PREEMPT_RT for deterministic timing. It provides both a C++ API and Python bindings (pylibfranka) for broader accessibility.

Who it’s for

Robotics researchers and developers who need precise, low-level control over Franka Robotics hardware to implement custom control algorithms or research experiments.

Highlights

  • Low-level control: Direct access to precise motion control for research robots.
  • Real-time communication: Capability for deterministic, real-time interaction with the robot.
  • Multi-platform support: Compatible with Ubuntu 20.04 through 26.04 LTS.
  • Python Bindings: Includes pylibfranka to enable robot control using Python.

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